JPH10127807A - Aerial ladder truck guidance system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To achieve a guidance of an aerial ladder truck to be arranged at a proper stopping position by early single calculation. SOLUTION: This system is provided with a measuring means 100 to measure the direction and a distance of the tip of an aerial ladder truck to a target position, a calculation means (proper range calculation means) 102 to calculate a stopping range of the aerial ladder truck corresponding to the target position based on the direction and the distance measured by the measuring means 100 and a display means 103 to display the stopping range calculated by the calculation means 102. It is also provided with a current position detecting means 104 to sequentially detect the current position of the aerial ladder truck, a running path information generating means 106 to calculate the transition of the positions sequentially detected by the current position detecting means 104 as running path and a synthesization means 103 which synthesizes the running path generated by the running path information generating means 106 with the stopping range calculated by the calculation means 102 for calculating the stopping range of the aerial ladder truck to be outputted to the display means.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a ladder vehicle guidance system, and more particularly to a ladder vehicle guidance system mounted on a ladder vehicle having an extending ladder and displaying an optimum stop position of the ladder vehicle to an operator.

[0002]

2. Description of the Related Art Conventionally, this type of ladder vehicle guidance system has
As shown in FIG. 5, a measuring means 100 for measuring the azimuth, elevation and distance from the current position of the ladder vehicle to a target point to be approached by a ladder tip, and this measuring means 100
Determining means 10 for determining whether or not the azimuth, elevation and distance measured according to the above are within an appropriate range in which the ladder can be extended.
1 and calculation means 102 for calculating the range and distance of the direction in which the ladder truck should move so that the azimuth, elevation and distance are within the appropriate range when the determination by the determination means 101 is not within the appropriate range. A display unit 103 for displaying the range of the direction and the distance calculated by the calculation unit 102;

[0003] The azimuth angle and the elevation angle of the ladder vehicle with respect to the target point from the current position are measured by the rotation angle detectors 3 for each axis attached to the two-axis swivel 5. The distance to the target point is obtained from the arrival time from the emission and reception of the laser pulse using the laser distance meter 1. Further, an inclinometer 4 is provided to calculate and correct the inclination of the vehicle body when determining an appropriate range in which the ladder can be extended.

[0004] The determination means 101 for determining whether or not it is within an appropriate range is performed by the CPU circuit 12, and the reference azimuth, elevation and distance parameters are input from the operation panel 11 to the CPU circuit 12 in advance. The measured value output from the measuring means 100 is determined whether or not it is within an appropriate range. If the measured value is not at the appropriate position, the stop position range calculation circuit 13 moves the direction and distance range (stop) (Possible range).

FIG. 6 is a display example showing a direction and a range of distance to be moved when the user is not at a proper position. P0 is the initial stop position, A is the appropriate range, and T is the position of the target point on the plane. The video camera 2 is used for aiming the target when measuring the distance to the target point.

Next, the operation of the conventional ladder vehicle guidance system will be described with reference to the flowchart of FIG. First, the worker stops the ladder truck at a position that seems to be almost appropriate in relation to the target based on his own experience and intuition (initial position)
(Step S1). In addition, turn on the power to this device,
The two-axis swivel is driven to aim the camera at the target point (steps S2 and S3).

When the aiming is completed, an instruction to start a measurement process by the measuring means is sent from the operation panel (step S).
6). As a result, the azimuth, elevation angle, residence, and inclination angle of the ladder truck of the target point to be reached by the ladder tip are measured (step S7). The CPU circuit stores in advance allowable values of the azimuth angle, the elevation angle, and the distance, and from the allowable value and the measurement data, an appropriate range in which the ladder reaches the target point;
That is, a stop position range in which the ladder can be extended to the target point is calculated (steps S8 and S9).

Further, the stop position range is displayed on the monitor (step S10). FIG. 6 shows a case where the current position is not within the appropriate range. Next, the operator looks at the display on the monitor and checks where the current position is with respect to the target point (step S11). Further, it is determined whether or not the current position of the ladder vehicle is within an appropriate range. If the current position is not within the appropriate range, the ladder vehicle is moved so that the azimuth, elevation and distance are within the appropriate range. The work vehicle moves and stops by a necessary distance in the direction indicated by the display based on the experience (step S13).

If the current position is within the proper range, a normal ladder operation is performed (step S14).

[0010]

In such a conventional ladder vehicle guidance system, the initial stop position of the ladder vehicle is:
If the target point is not within the proper range for the ladder to reach, there is no means to measure the current position during the actual movement, so the stop position after the move that the operator judges to be within the proper range is not It was necessary to measure the azimuth, the elevation and the distance to the target point again to confirm whether or not it was actually within the proper range. Therefore, step S4 of the flow of FIG.
Subsequent work must be performed again, which will hinder rapid fire fighting and rescue operations.

[0011]

An object of the present invention is to provide a ladder guidance system which can solve the disadvantages of the prior art and, in particular, can provide guidance for arranging a ladder in an appropriate stop position range in a single initial calculation. That is its purpose.

[0012]

Therefore, according to the present invention, there is provided a measuring means for measuring a direction and a distance of a tip end of a ladder vehicle with respect to a target position, and an apparatus for measuring a direction and a distance based on the direction and distance measured by the measuring means. The ladder truck includes a calculating unit for calculating a stop range, and a display unit for displaying the stop range calculated by the calculating unit.
Moreover, a current position detecting means for sequentially detecting the current position of the ladder vehicle, a traveling route information generating means for calculating the progress of the position sequentially detected by the current position detecting means as a traveling route, and a stop calculated by the calculating means And a synthesizing means for synthesizing the travel route generated by the travel route information generating means to the range and outputting the synthesized route to the display means. This aims to achieve the above-mentioned object.

When the ladder vehicle approaches the target, the measuring means first measures the direction and distance of the ladder to the target position. Then, the calculating means calculates a range in which the ladder vehicle should stop in relation to the target position of the ladder. on the other hand,
The current position calculation means sequentially detects the current position of the ladder vehicle, and the travel route information generation means calculates the travel route from the sequentially changing current position to the present. Then, the combining unit combines the traveling route generated by the traveling route information generating unit with the stop range calculated by the calculating unit, and outputs the resultant to the display unit. For this reason, the current position of the overlapped ladder truck and the route leading to it are displayed on the display means indicating the stop range in relation to the target position of the ladder.

Further, according to the present invention, the present position detecting means includes:
There is provided an initial value setting function for setting the position of the ladder vehicle when the direction and the distance to the target position are measured by the measuring means as initial values of the current position. Then, the start point displayed as the traveling route is a position at which the target position of the ladder is measured.

[0015]

Embodiments of the present invention will now be described in detail with reference to the drawings. FIG. 1 is a block diagram showing the configuration of the preferred embodiment of the present invention. The ladder guidance system comprises a measuring means 100 for measuring the direction and distance of the tip of the ladder to a target position,
Calculating means (appropriate range calculating means) 102 for calculating the stop range of the ladder vehicle according to the target position based on the direction and the distance measured by 0, and this calculating means 102
Display means 103 for displaying the stop range calculated by
And

Moreover, the current position detecting means 104 for sequentially detecting the current position of the ladder truck, and the current position detecting means 1
A travel route information generation unit 106 that calculates the progress of the position sequentially detected by the control unit 04 as a travel route, and a travel route generated by the travel route information generation unit with the stop range calculated by the calculation unit 102. A synthesizing unit 103 for outputting to the display unit.

As described above, the measuring means measures the current position of the own vehicle in real time and outputs the current position every moment when moving. The current position during the movement is input to the traveling route generating means 106 every moment, and the moving direction and the moving distance are calculated from the deviation of the position. Since the moving direction and the moving distance are obtained in chronological order from the initial position, a traveling route of the own vehicle that changes every moment is obtained. The traveling route is synthesized by the synthesizing means 103 and displayed on the monitor, so that the operator can check the current position at the time of movement.

Therefore, according to the present embodiment, the current position at the time of movement can be confirmed by the monitor, and it can be visually confirmed on the display screen that the vehicle has entered the proper stop position range. There is no need to first measure whether it is within the proper range.

This will be described in detail.

The measuring means 100 comprises a rotation angle detector 3 for each axis for measuring the azimuth and elevation of the ladder vehicle from the current position with respect to the target point, and a laser distance meter 1 for measuring the distance to the target point. I have. The rotation angle detector 3 is attached to a two-axis swivel 5. In addition, the laser range finder 1 obtains from the arrival time until the laser pulse is emitted and received. Further, the measuring means 100 includes an inclinometer 4 for calculating and correcting the inclination of the vehicle body when calculating an appropriate range of the stop position where the ladder can be extended, and a video camera 2 for aiming the target when measuring the distance to the target point. Have.

The calculating means 102 includes a judging means 1 for judging whether or not the current position of the ladder vehicle is within an appropriate range.
02 is attached. This determination means 102 is a CPU
This is realized by the circuit 12. The reference azimuth, elevation and distance parameters are input to the CPU circuit 12 from the operation panel 11 in advance. The CPU circuit 12 calculates an appropriate range of the stop position in advance from the reference data and stores it as data. The measured value sent from the measuring means 100 is judged whether or not it is within an appropriate range, and when it is not at an appropriate position, the direction and distance to be moved by the stop position calculation circuit 13 (stop (Possible range).

The display means 103 includes a video synthesizing section 14 for synthesizing an image indicating the possible stop position range and an image for displaying the traveling route of the ladder car, and a monitor 15 for outputting a video signal synthesized by the video synthesizing section. It has. The calculation result of the stop position is sent to the video signal combining unit 14 for display on the monitor 15.

The current position detecting means 104 includes a vehicle speed detector 1
7 and a body angle detector 18. Vehicle speed detector 17
Is for detecting the speed of a vehicle, is attached to an axle, and converts the speed into a speed by detecting the number of rotations of the shaft per unit time to output. The vehicle body rotation angle detector 18 detects a rotation angle of the vehicle body in the left-right direction (azimuth direction), and has a gyro unit mounted thereon. In addition, as a means for detecting the current position, a GPS global positioning system (global wellbore system) 16 using a satellite radio wave may be mounted. These signals of the current position are received by the interface circuit 19 and converted into appropriate signals necessary for the operation (for example, azimuth scale conversion, distance scale conversion, etc. are performed), and position deviation calculation means (second error correction means). CPU circuit) 20.

The current position detecting means 104 has an initial value setting function for setting the position of the ladder vehicle when the direction and distance to the target position are measured by the measuring means 100 as initial values of the current position. In this case, the current position is tracked after the stoppable range is calculated.

The traveling route information generating means 106 calculates a deviation between the previous position detected by the current position detecting means and the current position, and the position deviation calculating section 20 calculates the deviation. And a movement position calculation unit 21 for converting the deviation into a movement position on the monitor 15.

The position deviation calculator 20 calculates the position deviation, and calculates a deviation between the initial stop position and the current position at the time of movement from the position calculation circuit 13. The deviation is sent to the movement position calculating unit 21 in order to correspond to the movement position on the display, and the sequential change of the traveling route is converted into a video signal. This is input to the video synthesizing section 14, and the current position at the time of movement is displayed on the monitor 15.

FIG. 2 shows an example of a monitor display during movement. P0
Indicates an initial stop position, P2 indicates a current position at the time of movement, and A indicates an appropriate range in which the ladder vehicle can stop at a target point. T represents the position of the target point on the plane. Whether or not the position is within the proper range can be easily confirmed only by watching the display on the monitor as the user moves. FIG. 3 shows a display example when the image enters the appropriate range.

Next, the operation of this embodiment will be described with reference to the flowchart shown in FIG. Steps S1 to S11 are the same as the conventional example shown in FIG. Next, the display determines whether or not the current state of the ladder vehicle is within the appropriate range. If not, move the ladder vehicle so that the azimuth, elevation and distance are within the appropriate range. (Steps S12 and S13).

Further, the traveling route is confirmed by looking at the monitor as the ladder truck moves (steps S16 and S17). The monitor display screen confirms whether or not the current position has entered the proper range. If the current position has not yet entered, the movement is continued. When you have confirmed that you have entered, stop the ladder car.

Then, the normal operation of the ladder is performed at the stop position (step S14). Therefore, the re-measurement of the re-measurement in the appropriate range becomes unnecessary.

As described above, according to the present embodiment, the current position at the time of movement is sequentially detected as to whether or not the vehicle enters the optimum range of the stop position measured by the initial value, and is displayed on the monitor so that the operator can confirm it. As a result, fire fighting and rescue operations can be performed quickly. Further, it is not necessary to measure the direction, elevation angle and distance information of the current position with respect to the target point again in order to confirm whether or not the vehicle has entered the appropriate range of the stop position. The load can be reduced.

[0032]

Since the present invention is constructed and functions as described above, according to this, the traveling route information generating means calculates the traveling route from the present position which changes sequentially to the present time, and the combining means calculates the traveling route. In order to combine the travel route generated by the travel route information generating means with the stop range calculated by the above and output the resultant to the display means, the stop route is displayed on the display means indicating the stop range in relation to the target position of the ladder. The current position of the ladder car and the route to it can be displayed in a superimposed manner. Then, when it is confirmed on the monitor that the vehicle has progressed to the stop range, the ladder is immediately driven without measuring the target position again. be able to. As described above, it is possible to provide an unprecedented superior ladder vehicle guidance system that can perform guidance for arranging a ladder vehicle in an appropriate stop position range with a single initial calculation.

[Brief description of the drawings]

FIG. 1 is a block diagram showing an embodiment of the present invention.

FIG. 2 is an explanatory diagram showing a display example at the time of movement by the monitor shown in FIG. 1;

FIG. 3 is an explanatory diagram showing an example of a monitor display in a state where the monitor enters an appropriate range.

FIG. 4 is a flowchart illustrating an example of a process according to the present invention.

FIG. 5 is a block diagram showing a configuration of a conventional technique.

FIG. 6 is an explanatory diagram showing a monitor display example when the vehicle is not within an appropriate range at an initial stop position.

FIG. 7 is a flowchart illustrating an example of a process according to the related art.

[Explanation of symbols]

 REFERENCE SIGNS LIST 1 laser rangefinder 2 video camera 3 angle detector 4 inclinometer 5 2 axis swivel table 6 preprocessing unit 7 data transmission unit 8 data reception unit 9 video transmission unit 10 video reception unit 11 operation panel 12 CPU circuit 13 stop position calculation circuit Reference Signs List 14 video synthesizing unit 15 monitor 16 GPS 17 vehicle speed detecting circuit 18 body rotation angle detector 19 interface circuit 20 position deviation calculating unit 21 moving position calculating unit 100 measuring unit 101 determining unit 102 proper range calculating unit 103 display unit 104 current position detecting unit 106 Travel route information generating means

Claims (3)

[Claims] 1. A measuring means for measuring a direction and a distance of a tip of a ladder vehicle with respect to a target position, and a calculating means for calculating a stop range of the ladder vehicle according to the target position based on the direction and the distance measured by the measuring means. And a display means for displaying the stop range calculated by the calculation means. A current position detection means for sequentially detecting the current position of the ladder car, and a current position detection means for sequentially detecting the current position of the ladder car. Traveling route information generating means for calculating the progress of the position as a traveling route; and combining means for combining the traveling route generated by the traveling route information generating means with the stop range calculated by the calculating means and outputting the result to the display means. And a ladder vehicle guidance system comprising: 2. The apparatus according to claim 2, wherein said current position detecting means has an initial value setting function for setting a position of said ladder vehicle when a direction and a distance to a target position are measured by said measuring means as an initial value of a current position. The ladder vehicle guidance system according to claim 1, wherein: 3. A position deviation calculating unit for calculating a deviation between a previous position detected by the current position detecting unit and a current position, wherein the travel route information generating unit calculates a deviation between the previous position and the current position. The ladder guidance system according to claim 1 or 2, further comprising a moving position calculating unit that converts the deviation into a moving position on the display unit.